[ros-users] compressed_image_transport and old bag files

[Jeremy Leibs]

I typically end up using the rosrecord python API directly for that
kind of task.

Of course, looking at the documentation on the wiki page just now
(http://www.ros.org/wiki/rosrecord#rosrecord.py), it's definitely a
little sparse, which is largely my own fault.

You should be able to write a fairly short python script, along the lines of:

import rosrecord

rebag = rosrecord.Rebagger('new.bag')
for (topic, msg, t) in rosrecord.logplayer('old.bag', raw=True):
  if topic == 'image_compressed':
    rebag.add('image/compressed', m, t, raw=True)
  else:
    rebag.add(topic, msg, t, raw=True)
rebag.close()


Extended as appropriate.

Let me know if you need any help getting this working.
--Jeremy

On Tue, Mar 9, 2010 at 1:08 AM, David Feil-Seifer
<david.feilseifer at gmail.com> wrote:
> Thanks for the fast response. This fixed the first problem, that the
> messages in the bag files were out of date. But now I have a second
> problem. My bag files were created using the encoder and decoder nodes
> which published as/subscribed to, <topicname>_compressed /
> _decompressed. Right now, image_publisher is looking for
> <topicname>/compressed, etc. For right now, I am just using a remap
> and all is well. However, this is a little clumsy, and it would just
> be easier to convert the mesesage names in the bag files to match the
> new standard. How would one do this? I checked out the rosbag filter,
> but it doesn't seem to be the right tool. Is there one that can easily
> be adapted to do this.
>
> Thanks again, for the fast response.
> -Dave
>
> On Mon, Mar 8, 2010 at 8:07 PM, Josh Faust <jfaust at willowgarage.com> wrote:
>> First run "rosbag check" on the bag file to see if it has migration rules:
>> http://www.ros.org/wiki/rosbag#Check
>> Then if it says you can migrate it, run "rosbag fix":
>> http://www.ros.org/wiki/rosbag#Fix
>>
>> If there's no migration path you'll have to delve a bit deeper into the bag
>> migration tools, which I'm not familiar with.
>>
>> Josh
>>
>> On Mon, Mar 8, 2010 at 7:59 PM, David Feil-Seifer
>> <david.feilseifer at gmail.com> wrote:
>>>
>>> OK, so I made some bag files a while back using the encode node from
>>> image_publisher package that has since been deprecated. These bag
>>> files have these images logged as sensor_msgs/CompressedImage under
>>> the topic /overhead_cam/image_color_compressed
>>>
>>> how would I make the image_subscriber tutorial subscribe to this topic
>>> correctly. I currently have the following error messages:
>>>
>>> /overhead_cam/image_color_compressed to have datatype/md5sum
>>> [sensor_msgs/Image/060021388200f6f0f447d0fcd9c64743], but our version
>>> has [sensor_msgs/CompressedImage/8f7a12909da2c9d3332d540a0977563f].
>>> Dropping connection.
>>> [ERROR] 1268106882.939315000: Client [/compressed_listener] wants
>>> topic /overhead_cam/image_color_compressed to have datatype/md5sum
>>> [sensor_msgs/Image/060021388200f6f0f447d0fcd9c64743], but our version
>>> has [sensor_msgs/CompressedImage/8f7a12909da2c9d3332d540a0977563f].
>>> Dropping connection.
>>> [ERROR] 1268106910.267165000: Client [/compressed_listener] wants
>>> topic /overhead_cam/image_color_compressed to have datatype/md5sum
>>> [sensor_msgs/Image/060021388200f6f0f447d0fcd9c64743], but our version
>>> has [sensor_msgs/CompressedImage/8f7a12909da2c9d3332d540a0977563f].
>>> Dropping connection.
>>>
>>> Do I have to upgrade the bag files in some way?
>>>
>>> Thanks in advance for your help.
>>>
>>>
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